function [vL,vR]=RFNN_EKF_cal(dg,do,sig,sio,v_o,w_o)
    %初始设置
    aph=0.3;
    b=0.2;
    a_d=[0.1057,0.142,0.1664,0.6209,0.5737,0.052,0.9312,0.7286,0.7378,0.0634,0.8604,0.9344,0.9843,0.8589,0.7855,0.5133;
                0.1776,0.3985,0.1339,0.0308,0.9391,0.3013,0.2955,0.3329,0.467,0.6481,0.0252,0.8422,0.559,0.854,0.3478,0.446];
%     a_d=[0.0625,0.0625,0.0625,0.0625,0.0625,0.0625,0.0625,0.0625,0.0625,0.0625,0.0625,0.0625,0.0625,0.0625,0.0625,0.0625;
%         0.0625,0.0625,0.0625,0.0625,0.0625,0.0625,0.0625,0.0625,0.0625,0.0625,0.0625,0.0625,0.0625,0.0625,0.0625,0.0625];
%     a_d=ones([2,16]);
    %输入向量
    S=[dg,do,sig,sio];
    % 初始化静态变量
    persistent a;
    if isempty(a)
            a=[0.1057,0.142,0.1664,0.6209,0.5737,0.052,0.9312,0.7286,0.7378,0.0634,0.8604,0.9344,0.9843,0.8589,0.7855,0.5133;
                0.1776,0.3985,0.1339,0.0308,0.9391,0.3013,0.2955,0.3329,0.467,0.6481,0.0252,0.8422,0.559,0.854,0.3478,0.446];
%         a=ones([2,16]);
    end
    if(do>3||sio<-pi/3||sio>pi/3)
        W=a*(dg+sig);
        S1=[dg,sig];
    else
        W=a*sum(S(:));
        S1=S;
    end
    [Outputs,Fnk]=RFNNpro(S,W);
    [leftspeed,rightspeed]=v_to_LR(Outputs,aph);
    a_32=[a(1,:),a(2,:)];
    a_d_32=[a_d(1,:),a_d(1,:)];
    a=EKF_weight_v2(S1,Fnk,Outputs,a_32,v_o,w_o,aph,b);
    a=[a(1:16);a(17:32)];
    vL=leftspeed;
    vR=rightspeed;
end